function [x_Jh_stoe_mat] = Jh_stoe_mat(x)
x_Jh_stoe_mat=[1,0,(-381/2500).*sin(x(3)),0,0,0,0,0,0;0,1,(381/2500).*cos(x(3)), ...
  0,0,0,0,0,0;0,0,(-1),0,0,0,0,0,0];
